Double-Carrier Collision Prevention - Yamaha RCX142 User Manual

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NOTE
• For "Double-carrier collision
prevention" details, also see
"12.3.4 Double-carrier setting" is
Chapter 4.
• The anti-collision function for
double-carriers is supported by
controllers of Ver. 8.58 onwards.
c
CAUTION
The double-carrier collision
prevention is disabled when in an
"origin incomplete" condition.
Moreover, this function may fail to
operate properly if the lead length
and deceleration ratio settings are
specified incorrectly.
2. Operations and data when using the two-robot setting
2.3.5

Double-carrier collision prevention

When two carriers or arms are installed on the same axis of double-carrier type robots,
this function prevents the two carriers from colliding with each other.
This function is effective on robots such as the NXY-W which have 2 arms on the same
axis.
Fig. 5-2-45 Double arm type robot
Prevents same-axis carriers
from colliding with each other
The following conditions must be satisfied in order to use the double-carrier collision
prevention.
q Either of the carriers (arms) must approach the other carrier (arm) when moving in its
plus direction as follows. If this is not the case, please contact your YAMAHA
representative.
"+" direction
for carrier 1
w Each carrier's (arm's) motion amount indicated on the MPB screen must match the
actual motion amount. If the amounts do not match, please contact your Yamaha
representative.
MANUAL
—————————————————————————————————————————
Current position
*Mx= 0 00 . 0 *My=
MANUAL
—————————————————————————————————————————
Current position
*Mx= 300 00 . 0 *My=
"+" direction
for carrier 2
50/ 50%[MG][S0H0X]
0 00 .
50/ 50%[MG][S0H0X]
0 00 .
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5-